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Bio-inspired methods can provide efficient solutions to perform autonomous landing for Micro Air Vehicles (MAVs). Flying insects such as honeybees perform vertical landings by keeping flow divergence constant. This leads to an exponential decay of both height and vertical velocity, and allows for smooth and safe landings. However, the presence of noise and delay in obtaining flow divergence estimates will cause instability of the landing when the control gains are not adapted to the height. In this paper, we propose a strategy that deals with this fundamental problem of optical flow control. The key to the strategy lies in the use of a recent theory that allows the MAV to see distance by means of its control instability. At the start of a landing, the MAV detects the height by means of an oscillating movement and sets the control gains accordingly. Then, during descent, the gains are reduced exponentially, with mechanisms in place to reduce or increase the gains if the actual trajectory deviates too much from an ideal constant divergence landing. Real-world experiments demonstrate stable landings of the MAV in both indoor and windy outdoor environments. | Adaptive Control Strategy for Constant Optical Flow Divergence Landing | 8,800 |
We propose a novel unifying scheme for parallel implementation of articulated robot dynamics algorithms. It is based on a unified Lie group notation for deriving the equations of motion of articulated robots, where various well-known forward algorithms differ only by their joint inertia matrix inversion strategies. This new scheme leads to a unified abstraction of state-of-the-art forward dynamics algorithms into combinations of block bi-diagonal and/or block tri-diagonal systems, which may be efficiently solved by parallel all-prefix-sum operations (scan) and parallel odd-even elimination (OEE) respectively. We implement the proposed scheme on a Nvidia CUDA GPU platform for the comparative study of three algorithms, namely the hybrid articulated-body inertia algorithm (ABIA), the parallel joint space inertia inversion algorithm (JSIIA) and the constrained force algorithm (CFA), and the performances are analyzed. | A Novel GPU-based Parallel Implementation Scheme and Performance
Analysis of Robot Forward Dynamics Algorithms | 8,801 |
The potential of large tactile arrays to improve robot perception for safe operation in human-dominated environments and of high-resolution tactile arrays to enable human-level dexterous manipulation is well accepted. However, the increase in the number of tactile sensing elements introduces challenges including wiring complexity, power consumption, and data processing. To help address these challenges, we previously developed a tactile sensing technique based compressed sensing that reduces hardware complexity and data transmission, while allowing accurate reconstruction of the full-resolution signal. In this paper, we apply tactile compressed sensing to the problem of object classification. Specifically, we perform object classification on the compressed tactile data. We evaluate our method using BubbleTouch, our tactile array simulator. Our results show our approach achieves high classification accuracy, even with compression factors up to 64. | Compressed Learning for Tactile Object Classification | 8,802 |
Recent advances have been made in learning of grasps for fully actuated hands. A typical approach learns the target locations of finger links on the object. When a new object must be grasped, new finger locations are generated, and a collision free reach-to-grasp trajectory is planned. This assumes a collision free trajectory to the final grasp. This is not possible with underactuated hands, which cannot be guaranteed to avoid contact, and in fact exploit contacts with the object during grasping, so as to reach an equilibrium state in which the object is held securely. Unfortunately, these contact interactions are i) not directly controllable, and ii) hard to monitor during a real grasp. We overcome these problems so as to permit learning of transferrable grasps for underactuated hands. We make two main technical innovations. First, we model contact interactions during the grasp implicitly. We do this by modelling motor commands that lead reliably to the equilibrium state, rather than modelling contact changes themselves. This alters our reach-to-grasp model. Second, we extend our contact model learning algorithm to work with multiple training examples for each grasp type. This requires the ability to learn which parts of the hand reliably interact with the object during a particular grasp. Our approach learns from a rigid body simulation. This enables us to learn how to approach the object and close the underactuated hand from a variety of poses. From nine training grasps on three objects the method transferred grasps to previously unseen, novel objects, that differ significantly from the training objects, with an 80% success rate. | Learning and Inference of Dexterous Grasps for Novel Objects with
Underactuated Hands | 8,803 |
Loop-closure detection on 3D data is a challenging task that has been commonly approached by adapting image-based solutions. Methods based on local features suffer from ambiguity and from robustness to environment changes while methods based on global features are viewpoint dependent. We propose SegMatch, a reliable loop-closure detection algorithm based on the matching of 3D segments. Segments provide a good compromise between local and global descriptions, incorporating their strengths while reducing their individual drawbacks. SegMatch does not rely on assumptions of "perfect segmentation", or on the existence of "objects" in the environment, which allows for reliable execution on large scale, unstructured environments. We quantitatively demonstrate that SegMatch can achieve accurate localization at a frequency of 1Hz on the largest sequence of the KITTI odometry dataset. We furthermore show how this algorithm can reliably detect and close loops in real-time, during online operation. In addition, the source code for the SegMatch algorithm will be made available after publication. | SegMatch: Segment based loop-closure for 3D point clouds | 8,804 |
For intelligent robots to interact in meaningful ways with their environment, they must understand both the geometric and semantic properties of the scene surrounding them. The majority of research to date has addressed these mapping challenges separately, focusing on either geometric or semantic mapping. In this paper we address the problem of building environmental maps that include both semantically meaningful, object-level entities and point- or mesh-based geometrical representations. We simultaneously build geometric point cloud models of previously unseen instances of known object classes and create a map that contains these object models as central entities. Our system leverages sparse, feature-based RGB-D SLAM, image-based deep-learning object detection and 3D unsupervised segmentation. | Meaningful Maps With Object-Oriented Semantic Mapping | 8,805 |
Learning from demonstration for motion planning is an ongoing research topic. In this paper we present a model that is able to learn the complex mapping from raw 2D-laser range findings and a target position to the required steering commands for the robot. To our best knowledge, this work presents the first approach that learns a target-oriented end-to-end navigation model for a robotic platform. The supervised model training is based on expert demonstrations generated in simulation with an existing motion planner. We demonstrate that the learned navigation model is directly transferable to previously unseen virtual and, more interestingly, real-world environments. It can safely navigate the robot through obstacle-cluttered environments to reach the provided targets. We present an extensive qualitative and quantitative evaluation of the neural network-based motion planner, and compare it to a grid-based global approach, both in simulation and in real-world experiments. | From Perception to Decision: A Data-driven Approach to End-to-end Motion
Planning for Autonomous Ground Robots | 8,806 |
In this paper, we introduce an informative path planning (IPP) framework for active classification using unmanned aerial vehicles (UAVs). Our algorithm uses a combination of global viewpoint selection and evolutionary optimization to refine the planned trajectory in continuous 3D space while satisfying dynamic constraints. Our approach is evaluated on the application of weed detection for precision agriculture. We model the presence of weeds on farmland using an occupancy grid and generate adaptive plans according to information-theoretic objectives, enabling the UAV to gather data efficiently. We validate our approach in simulation by comparing against existing methods, and study the effects of different planning strategies. Our results show that the proposed algorithm builds maps with over 50% lower entropy compared to traditional "lawnmower" coverage in the same amount of time. We demonstrate the planning scheme on a multirotor platform with different artificial farmland set-ups. | Online Informative Path Planning for Active Classification Using UAVs | 8,807 |
This work provides an architecture to enable robotic grasp planning via shape completion. Shape completion is accomplished through the use of a 3D convolutional neural network (CNN). The network is trained on our own new open source dataset of over 440,000 3D exemplars captured from varying viewpoints. At runtime, a 2.5D pointcloud captured from a single point of view is fed into the CNN, which fills in the occluded regions of the scene, allowing grasps to be planned and executed on the completed object. Runtime shape completion is very rapid because most of the computational costs of shape completion are borne during offline training. We explore how the quality of completions vary based on several factors. These include whether or not the object being completed existed in the training data and how many object models were used to train the network. We also look at the ability of the network to generalize to novel objects allowing the system to complete previously unseen objects at runtime. Finally, experimentation is done both in simulation and on actual robotic hardware to explore the relationship between completion quality and the utility of the completed mesh model for grasping. | Shape Completion Enabled Robotic Grasping | 8,808 |
Micro Air Vehicles (MAVs) will unlock their true potential once they can operate in groups. To this end, it is essential for them to estimate on-board the relative location of their neighbors. The challenge lies in limiting the mass and processing burden needed to enable this. We developed a relative localization method that only requires the MAVs to communicate via their wireless transceiver. Communication allows the exchange of on-board states (velocity, height, and orientation), while the signal-strength provides range data. These quantities are fused to provide a full relative location estimate. We used our method to tackle the problem of collision avoidance in tight areas. The system was tested with a team of AR.Drones flying in a 4mx4m area and with miniature drones of ~50g in a 2mx2m area. The MAVs were able to track their relative positions and fly several minutes without collisions. Our implementation used Bluetooth to communicate between the drones. This featured significant noise and disturbances in signal-strength, which worsened as more drones were added. Simulation analysis suggests that results can improve with a more suitable transceiver module. | On-board Communication-based Relative Localization for Collision
Avoidance in Micro Air Vehicle teams | 8,809 |
The direct kinematics analysis is the foundation of implementation of real world application of parallel manipulators. For most parallel manipulators the direct kinematics is challenging. In this paper, for the first time a fast and efficient Homotopy Continuation Method, called the Ostrowski Homotopy continuation method has been implemented to solve the direct and inverse kinematics problem of the parallel manipulators. This method has advantage over conventional numerical iteration methods, which is not rely on the initial values and is more efficient than other continuation method and it can find all solutions of equations without divergence just by changing auxiliary Homotopy function. Numerical example and simulation was done to solve the direct kinematic problem of the 3-UPU parallel manipulator that leads to 16 real solutions. Results obviously reveal the fastness and effectiveness of this method than the conventional Homotopy continuation methods such as Newton Homotopy. The results shows that the Ostrowski-Homotopy reduces computation time up to 80-97 % with more accuracy in solutions in comparison with the Newton Homotopy. | Kinematic analysis of a 3-UPU parallel Robot using the
Ostrowski-Homotopy Continuation | 8,810 |
This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative review of these approaches and use the approach based on simple local coordination rules. We investigate this extensively used nearest neighbour rule based approach for developing coverage control algorithms. In this approach, a mobile robot gives an equal importance to every neighbour robot coming under its communication range. We develop our control approach by making some of the mobile robots playing a more influential role than other members in the team. The approach based on this control strategy becomes efficient in terms of achieving a consensus on control inputs, say heading angle, velocity, etc. The decentralized control of mobile robots can also exhibit a cyclic behaviour under some physical constraints like a quantized orientation of mobile robot. We further investigate the cyclic behaviour appearing due to the quantized control of mobile robots under some conditions. Our nearest neighbour rule based approach offers a biased strategy in case of cyclic behaviour appearing in the team of mobile robots. We consider a clustering technique inside the team of mobile robots. Our decentralized control strategy calculates the similarity measure among the neighbours of a mobile robot. The team of mobile robots with the similarity measure based approach becomes efficient in achieving a fast consensus like on heading angle or velocity. We perform a rigorous mathematical analysis of our developed approach. We also develop a condition based on relaxed criteria for achieving consensus on velocity or heading angle of the mobile robots. Our validation approach is based on mathematical arguments and extensive computer simulations. | Distributed Navigation of Multi-Robot Systems For Sensing Coverage | 8,811 |
The paper presents a proof of concept to calibrate iCub's skin using vacuum bags. The method's main idea consists in inserting the skin in a vacuum bag, and then decreasing the pressure in the bag to create a uniform pressure distribution on the skin surface. Acquisition and data processing of the bag pressure and sensors' measured capacitance allow us to characterize the relationship between the pressure and the measured capacitance of each sensor. After calibration, integration of the pressure distribution over the skin geometry provides us with the net normal force applied to the skin. Experiments are conducted using the forearm skin of the iCub humanoid robot, and validation results indicate acceptable average errors in force prediction. | Skin Normal Force Calibration Using Vacuum Bags | 8,812 |
In this paper, a method for stabilizing biped robots stepping by a combination of Divergent Component of Motion (DCM) tracking and step adjustment is proposed. In this method, the DCM trajectory is generated, consistent with the predefined footprints. Furthermore, a swing foot trajectory modification strategy is proposed to adapt the landing point, using DCM measurement. In order to apply the generated trajectories to the full robot, a Hierarchical Inverse Dynamics (HID) is employed. The HID enables us to use different combinations of the DCM tracking and step adjustment for stabilizing different biped robots. Simulation experiments on two scenarios for two different simulated robots, one with active ankles and the other with passive ankles, are carried out. Simulation results demonstrate the effectiveness of the proposed method for robots with both active and passive ankles. | Stepping Stabilization Using a Combination of DCM Tracking and Step
Adjustment | 8,813 |
Traversing environments with arbitrary obstacles poses significant challenges for bipedal robots. In some cases, whole body motions may be necessary to maneuver around an obstacle, but most existing footstep planners can only select from a discrete set of predetermined footstep actions; they are unable to utilize the continuum of whole body motion that is truly available to the robot platform. Existing motion planners that can utilize whole body motion tend to struggle with the complexity of large-scale problems. We introduce a planning method, called the "Randomized Possibility Graph", which uses high-level approximations of constraint manifolds to rapidly explore the "possibility" of actions, thereby allowing lower-level motion planners to be utilized more efficiently. We demonstrate simulations of the method working in a variety of semi-unstructured environments. In this context, "semi-unstructured" means the walkable terrain is flat and even, but there are arbitrary 3D obstacles throughout the environment which may need to be stepped over or maneuvered around using whole body motions. | Footstep and Motion Planning in Semi-unstructured Environments Using
Randomized Possibility Graphs | 8,814 |
Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of locomotion, but traversing unfavorable environments may require several forms of locomotion to be sequenced together, such as walking, crawling, and jumping. Multi-modal motion planners can be used to address some of these problems, but existing implementations tend to be time-consuming and are limited to quasi-static actions. This paper presents a motion planning method to traverse complex environments using multiple categories of continuous actions. To this end, this paper formulates and exploits the Possibility Graph---which uses high-level approximations of constraint manifolds to rapidly explore the "possibility" of actions---to utilize lower-level single-action motion planners more effectively. We show that the Possibility Graph can quickly find routes through several different challenging environments which require various combinations of actions in order to traverse. | Traversing Environments Using Possibility Graphs with Multiple Action
Types | 8,815 |
This paper addresses the motion planning problem for a team of aerial agents under high level goals. We propose a hybrid control strategy that guarantees the accomplishment of each agent's local goal specification, which is given as a temporal logic formula, while guaranteeing inter-agent collision avoidance. In particular, by defining 3-D spheres that bound the agents' volume, we extend previous work on decentralized navigation functions and propose control laws that navigate the agents among predefined regions of interest of the workspace while avoiding collision with each other. This allows us to abstract the motion of the agents as finite transition systems and, by employing standard formal verification techniques, to derive a high-level control algorithm that satisfies the agents' specifications. Simulation and experimental results with quadrotors verify the validity of the proposed method. | Decentralized Motion Planning with Collision Avoidance for a Team of
UAVs under High Level Goals | 8,816 |
This paper addresses the problem of cooperative manipulation of a single object by N robotic agents under local goal specifications given as Metric Interval Temporal Logic (MITL) formulas. In particular, we propose a distributed model-free control protocol for the trajectory tracking of the cooperatively manipulated object without necessitating feedback of the contact forces/torques or inter-agent communication. This allows us to abstract the motion of the coupled object-agents system as a finite transition system and, by employing standard automata-based methodologies, we derive a hybrid control algorithm for the satisfaction of a given MITL formula. In addition, we use load sharing coefficients to represent potential differences in power capabilities among the agents. Finally, simulation studies verify the validity of the proposed scheme. | Distributed Cooperative Manipulation under Timed Temporal Specifications | 8,817 |
In this paper, we propose a compact twisted string actuation system that achieves a high contraction percentage (81%) on two phases: multi string twist and overtwist. This type of system can be used in many robotic applications, such as robotic hands and exoskeletons. The overtwist phase enables the development of more compact actuators based on the twisted string systems. Furthermore, by analyzing the previously developed mathematical models, we found out that a constant radius model should be applied for the overtwisting phase. Moreover, we propose an improvement of an existing model for prediction of the radius of the multi string system after they twist around each other. This model helps to better estimate the bundle diameter which results in a more precise mathematical model for multi string systems. The model was validated by performing experiments with 2, 4, 6 and 8 string systems. Finally, we performed extensive life cycle tests with different loads and contractions to find out the expected life of the system. | A compact two-phase twisted string actuation system: Modeling and
validation | 8,818 |
This paper proposes a task-space control protocol for the collaborative manipulation of a single object by N robotic agents. The proposed methodology is decentralized in the sense that each agent utilizes information associated with its own and the object's dynamic/kinematic parameters and no on-line communication takes place. Moreover, no feedback of the contact forces/torques is required, therefore employment of corresponding sensors is avoided. An adaptive version of the control scheme is also introduced, where the agents' and object's dynamic parameters are considered unknown. We also use unit quaternions to represent the object's orientation. In addition, load sharing coefficients between the agents are employed and internal force regulation is guaranteed. Finally, experimental studies with two robotic arms verify the validity and effectiveness of the proposed control protocol. | Robust Quaternion-based Cooperative Manipulation without Force/Torque
Information | 8,819 |
Informative path planning (IPP) is used to design paths for robotic sensor platforms to extract the best/maximum possible information about a quantity of interest while operating under a set of constraints, such as the dynamic feasibility of vehicles. The key challenges of IPP are the strong coupling in multiple layers of decisions: the selection of locations to visit, the allocation of sensor platforms to those locations; and the processing of the gathered information along the paths. This paper presents a systematic procedure for IPP and environmental mapping using multiple UAV sensor platforms. It (a) selects the best locations to observe, (b) calculates the cost and finds the best paths for each UAV, and (c) estimates the measurement value within a given region using the Gaussian process (GP) regression framework. An illustrative example of RF intensity field mapping is presented to demonstrate the validity and applicability of the proposed approach. | Informative Path Planning and Mapping with Multiple UAVs in Wind Fields | 8,820 |
This work presents an on-going investigation of the control of a pneumatic soft-robot actuator addressing accurate patient positioning systems in maskless head and neck cancer radiotherapy. We employ two RGB-D sensors in a sensor fusion scheme to better estimate a patient's head pitch motion. A system identification prediction error model is used to obtain a linear time invariant state space model. We then use the model to design a linear quadratic Gaussian feedback controller to manipulate the patient head position based on sensed head pitch motion. Experiments demonstrate the success of our approach. | Vision-based Control of a Soft Robot for Maskless Head and Neck Cancer
Radiotherapy | 8,821 |
Step adjustment for humanoid robots has been shown to improve robustness in gaits. However, step duration adaptation is often neglected in control strategies. In this paper, we propose an approach that combines both step location and timing adjustment for generating robust gaits. In this approach, step location and step timing are decided, based on feedback from the current state of the robot. The proposed approach is comprised of two stages. In the first stage, the nominal step location and step duration for the next step or a previewed number of steps are specified. In this stage which is done at the start of each step, the main goal is to specify the best step length and step duration for a desired walking speed. The second stage deals with finding the best landing point and landing time of the swing foot at each control cycle. In this stage, stability of the gaits is preserved by specifying a desired offset between the swing foot landing point and the Divergent Component of Motion (DCM) at the end of current step. After specifying the landing point of the swing foot at a desired time, the swing foot trajectory is regenerated at each control cycle to realize desired landing properties. Simulation on different scenarios shows the robustness of the generated gaits from our proposed approach compared to the case where no timing adjustment is employed. | Step Timing Adjustment: A Step toward Generating Robust Gaits | 8,822 |
In this paper, we investigate the synthesis of piecewise affine feedback controllers to address the problem of safe and robust controller design in robotics based on high-level controls specifications. The methodology is based on formulating the problem as a collection of reach control problems on a polytopic state space. Reach control has so far only been developed in theory and has not been tested experimentally on a real system before. Using a quadrocopter as our experimental platform, we show that these theoretical tools can achieve fast, albeit safe and robust maneuvers. In contrast to most traditional control techniques, the reach control approach does not require a predefined open-loop reference trajectory or spacial path. Experimental results on a quadrocopter show the effectiveness and robustness of this control approach. In a proof-of-concept demonstration, the reach controller is implemented in one translational direction while the other degrees of freedom are stabilized by separate controllers. | Safe and Robust Robot Maneuvers Based on Reach Control | 8,823 |
Small variance asymptotics is emerging as a useful technique for inference in large scale Bayesian non-parametric mixture models. This paper analyses the online learning of robot manipulation tasks with Bayesian non-parametric mixture models under small variance asymptotics. The analysis yields a scalable online sequence clustering (SOSC) algorithm that is non-parametric in the number of clusters and the subspace dimension of each cluster. SOSC groups the new datapoint in its low dimensional subspace by online inference in a non-parametric mixture of probabilistic principal component analyzers (MPPCA) based on Dirichlet process, and captures the state transition and state duration information online in a hidden semi-Markov model (HSMM) based on hierarchical Dirichlet process. A task-parameterized formulation of our approach autonomously adapts the model to changing environmental situations during manipulation. We apply the algorithm in a teleoperation setting to recognize the intention of the operator and remotely adjust the movement of the robot using the learned model. The generative model is used to synthesize both time-independent and time-dependent behaviours by relying on the principles of shared and autonomous control. Experiments with the Baxter robot yield parsimonious clusters that adapt online with new demonstrations and assist the operator in performing remote manipulation tasks. | Small Variance Asymptotics for Non-Parametric Online Robot Learning | 8,824 |
Human-robot handovers are characterized by high uncertainty and poor structure of the problem that make them difficult tasks. While machine learning methods have shown promising results, their application to problems with large state dimensionality, such as in the case of humanoid robots, is still limited. Additionally, by using these methods and during the interaction with the human operator, no guarantees can be obtained on the correct interpretation of spatial constraints (e.g., from social rules). In this paper, we present Policy Improvement with Spatio-Temporal Affordance Maps -- $\pi$-STAM, a novel iterative algorithm to learn spatial affordances and generate robot behaviors. Our goal consists in generating a policy that adapts to the unknown action semantics by using affordances. In this way, while learning to perform a human-robot handover task, we can (1) efficiently generate good policies with few training episodes, and (2) easily encode action semantics and, if available, enforce prior knowledge in it. We experimentally validate our approach both in simulation and on a real NAO robot whose task consists in taking an object from the hands of a human. The obtained results show that our algorithm obtains a good policy while reducing the computational load and time duration of the learning process. | Learning Human-Robot Handovers Through $π$-STAM: Policy Improvement
With Spatio-Temporal Affordance Maps | 8,825 |
We propose a new probabilistic framework that allows mobile robots to autonomously learn deep, generative models of their environments that span multiple levels of abstraction. Unlike traditional approaches that combine engineered models for low-level features, geometry, and semantics, our approach leverages recent advances in Sum-Product Networks (SPNs) and deep learning to learn a single, universal model of the robot's spatial environment. Our model is fully probabilistic and generative, and represents a joint distribution over spatial information ranging from low-level geometry to semantic interpretations. Once learned, it is capable of solving a wide range of tasks: from semantic classification of places, uncertainty estimation, and novelty detection, to generation of place appearances based on semantic information and prediction of missing data in partial observations. Experiments on laser-range data from a mobile robot show that the proposed universal model obtains performance superior to state-of-the-art models fine-tuned to one specific task, such as Generative Adversarial Networks (GANs) or SVMs. | Learning Deep Generative Spatial Models for Mobile Robots | 8,826 |
This letter summarizes some known properties and also presents several new properties of the Numerical Integration (NI) method for time-optimal trajectory planning along a specified path. The contribution is that rigorous mathematical proofs of these properties are presented, most of which cannot be found in existing literatures. We first give some properties regarding switch points and accelerating/decelerating curves of the NI method. Then, for the fact that when kinematic constraints are considered, the original version of NI which only considers torque constraints may result in failure of trajectory planning, we give the concrete failure conditions with rigorous mathematical proof. Accordingly, a failure detection algorithm is given in a run-and-test manner. Some simulation results on a unicycle vehicle are provided to verify those presented properties. Note that though those known properties are not discovered first, their mathematical proofs are given first in this letter. The detailed proofs make the theory of NI more complete and help interested readers to gain a thorough understanding of the method. | Essential Properties of Numerical Integration for Time-optimal
Trajectory Planning Along a Specified Path | 8,827 |
This paper proposes and validates an in situ calibration method to calibrate six axis force torque (F/T) sensors once they are mounted on the system. This procedure takes advantage of the knowledge of the model of the robot to generate the expected wrenches of the sensors during some arbitrary motions. It then uses this information to train and validate new calibration matrices, taking into account the calibration matrix obtained with a classical Workbench calibration. The proposed calibration algorithm is validated on the F/T sensors mounted on the iCub humanoid robot legs. | Model Based In Situ Calibration of Six Axis Force Torque Sensors | 8,828 |
We study a Visual-Inertial Navigation (VIN) problem in which a robot needs to estimate its state using an on-board camera and an inertial sensor, without any prior knowledge of the external environment. We consider the case in which the robot can allocate limited resources to VIN, due to tight computational constraints. Therefore, we answer the following question: under limited resources, what are the most relevant visual cues to maximize the performance of visual-inertial navigation? Our approach has four key ingredients. First, it is task-driven, in that the selection of the visual cues is guided by a metric quantifying the VIN performance. Second, it exploits the notion of anticipation, since it uses a simplified model for forward-simulation of robot dynamics, predicting the utility of a set of visual cues over a future time horizon. Third, it is efficient and easy to implement, since it leads to a greedy algorithm for the selection of the most relevant visual cues. Fourth, it provides formal performance guarantees: we leverage submodularity to prove that the greedy selection cannot be far from the optimal (combinatorial) selection. Simulations and real experiments on agile drones show that our approach ensures state-of-the-art VIN performance while maintaining a lean processing time. In the easy scenarios, our approach outperforms appearance-based feature selection in terms of localization errors. In the most challenging scenarios, it enables accurate visual-inertial navigation while appearance-based feature selection fails to track robot's motion during aggressive maneuvers. | Attention and Anticipation in Fast Visual-Inertial Navigation | 8,829 |
With the advancement of robotics, machine learning, and machine perception, increasingly more robots will enter human environments to assist with daily tasks. However, dynamically-changing human environments requires reactive motion plans. Reactivity can be accomplished through replanning, e.g. model-predictive control, or through a reactive feedback policy that modifies on-going behavior in response to sensory events. In this paper, we investigate how to use machine learning to add reactivity to a previously learned nominal skilled behavior. We approach this by learning a reactive modification term for movement plans represented by nonlinear differential equations. In particular, we use dynamic movement primitives (DMPs) to represent a skill and a neural network to learn a reactive policy from human demonstrations. We use the well explored domain of obstacle avoidance for robot manipulation as a test bed. Our approach demonstrates how a neural network can be combined with physical insights to ensure robust behavior across different obstacle settings and movement durations. Evaluations on an anthropomorphic robotic system demonstrate the effectiveness of our work. | Learning Feedback Terms for Reactive Planning and Control | 8,830 |
With advancing technologies, robotic manipulators and visual environment sensors are becoming cheaper and more widespread. However, robot control can be still a limiting factor for better adaptation of these technologies. Robotic manipulators are performing very well in structured workspaces, but do not adapt well to unexpected changes, like people entering the workspace. We present a method combining 3D Camera based workspace mapping, and a predictive and reflexive robot manipulator trajectory estimation to allow more efficient and safer operation in dynamic workspaces. In experiments on a real UR5 robot our method has proven to provide shorter and smoother trajectories compared to a reactive trajectory planner in the same conditions. Furthermore, the robot has successfully avoided any contact by initialising the reflexive movement even when an obstacle got unexpectedly close to the robot. The main goal of our work is to make the operation more flexible in unstructured dynamic workspaces and not just avoid obstacles, but also adapt when performing collaborative tasks with humans in the near future. | Multi 3D Camera Mapping for Predictive and Reflexive Robot Manipulator
Trajectory Estimation | 8,831 |
We present new algorithms to perform fast probabilistic collision queries between convex as well as non-convex objects. Our approach is applicable to general shapes, where one or more objects are represented using Gaussian probability distributions. We present a fast new algorithm for a pair of convex objects, and extend the approach to non-convex models using hierarchical representations. We highlight the performance of our algorithms with various convex and non-convex shapes on complex synthetic benchmarks and trajectory planning benchmarks for a 7-DOF Fetch robot arm. | Efficient Probabilistic Collision Detection for Non-Convex Shapes | 8,832 |
This chapter is dedicated to the so-called cuspidal robots, i.e. those robots that can move from one inverse geometric solution to another without meeting a singular confuguration. This feature was discovered quite recently and has then been fascinating a lot of researchers. After a brief history of cuspidal robots, the chapter provides the main features of cuspidal robots: explanation of the non-singular change of posture, uniqueness domains, regions of feasible paths, identification and classification of cuspidal robots. The chapter focuses on 3-R orthogonal serial robots. The case of 6-dof robots and parallel robots is discussed in the end of this chapter. | Cuspidal Robots | 8,833 |
The ability to open a door is essential for robots to perform home-serving and rescuing tasks. A substantial problem is to obtain the necessary parameters such as the width of the door and the length of the handle. Many researchers utilize computer vision techniques to extract the parameters automatically which lead to fine but not very stable results because of the complexity of the environment. We propose a method that utilizes an RGBD sensor and a GUI for users to 'point' at the target region with a mouse to acquire 3D information. Algorithms that can extract important parameters from the selected points are designed. To avoid large internal force induced by the misalignment of the robot orientation and the normal of the door plane, we design a module that can compute the normal of the plane by pointing at three non-collinear points and then drive the robot to the desired orientation. We carried out experiments on real robot. The result shows that the designed GUI and algorithms can help find the necessary parameters stably and get the robot prepared for further operations. | RGBD-based Parameter Extraction for Door Opening Tasks with Human
Assists in Nuclear Rescue | 8,834 |
We propose a probabilistic filtering method which fuses joint measurements with depth images to yield a precise, real-time estimate of the end-effector pose in the camera frame. This avoids the need for frame transformations when using it in combination with visual object tracking methods. Precision is achieved by modeling and correcting biases in the joint measurements as well as inaccuracies in the robot model, such as poor extrinsic camera calibration. We make our method computationally efficient through a principled combination of Kalman filtering of the joint measurements and asynchronous depth-image updates based on the Coordinate Particle Filter. We quantitatively evaluate our approach on a dataset recorded from a real robotic platform, annotated with ground truth from a motion capture system. We show that our approach is robust and accurate even under challenging conditions such as fast motion, significant and long-term occlusions, and time-varying biases. We release the dataset along with open-source code of our approach to allow for quantitative comparison with alternative approaches. | Probabilistic Articulated Real-Time Tracking for Robot Manipulation | 8,835 |
We present a novel approach and database which combines the inexpensive generation of 3D object models via monocular or RGB-D camera images with 3D printing and a state of the art object tracking algorithm. Unlike recent efforts towards the creation of 3D object databases for robotics, our approach does not require expensive and controlled 3D scanning setups and enables anyone with a camera to scan, print and track complex objects for manipulation research. The proposed approach results in highly detailed mesh models whose 3D printed replicas are at times difficult to distinguish from the original. A key motivation for utilizing 3D printed objects is the ability to precisely control and vary object properties such as the mass distribution and size in the 3D printing process to obtain reproducible conditions for robotic manipulation research. We present CapriDB - an extensible database resulting from this approach containing initially 40 textured and 3D printable mesh models together with tracking features to facilitate the adoption of the proposed approach. | CapriDB - Capture, Print, Innovate: A Low-Cost Pipeline and Database for
Reproducible Manipulation Research | 8,836 |
Achieving safe control under uncertainty is a key problem that needs to be tackled for enabling real-world autonomous robots and cyber-physical systems. This paper introduces Probabilistic Safety Programs (PSP) that embed both the uncertainty in the environment as well as invariants that determine safety parameters. The goal of these PSPs is to evaluate future actions or trajectories and determine how likely it is that the system will stay safe under uncertainty. We propose to perform these evaluations by first compiling the PSP to a graphical model then using a fast variational inference algorithm. We highlight the efficacy of the framework on the task of safe control of quadrotors and autonomous vehicles in dynamic environments. | Probabilistic Safety Programs | 8,837 |
This paper describes Team Delft's robot, which won the Amazon Picking Challenge 2016, including both the Picking and the Stowing competitions. The goal of the challenge is to automate pick and place operations in unstructured environments, specifically the shelves in an Amazon warehouse. Team Delft's robot is based on an industrial robot arm, 3D cameras and a customized gripper. The robot's software uses ROS to integrate off-the-shelf components and modules developed specifically for the competition, implementing Deep Learning and other AI techniques for object recognition and pose estimation, grasp planning and motion planning. This paper describes the main components in the system, and discusses its performance and results at the Amazon Picking Challenge 2016 finals. | Team Delft's Robot Winner of the Amazon Picking Challenge 2016 | 8,838 |
We consider the configuration formation problem in modular robotic systems where a set of singleton modules that are spatially distributed in an environment are required to assume appropriate positions so that they can configure into a new, user-specified target configuration, while simultaneously maximizing the amount of information collected while navigating from their initial to final positions. Each module has a limited energy budget to expend while moving from its initial to goal location. To solve this problem, we propose a budget-limited, heuristic search-based algorithm that finds a path that maximizes the entropy of the expected information along the path. We have analytically proved that our proposed approach converges within finite time. Experimental results show that our planning approach has lower run-time than an auction-based allocation algorithm for selecting modules' spots. | Simultaneous Configuration Formation and Information Collection by
Modular Robotic Systems | 8,839 |
This paper presents a robust and accurate positioning system that adapts its behavior to the surrounding environment, mimicking the capability of the visual brain to filtering out clutter and focusing attention on activity and relevant information. Especially in indoor environments, which are characterized by harsh multipath propagation, robust positioning is still hard to achieve under the constraint of reasonable infrastructural needs. In such environments it is essential to separate relevant from irrelevant information and attain an appropriate uncertainty model for measurements that are used for positioning. | Cognitive Indoor Positioning and Tracking using Multipath Channel
Information | 8,840 |
This paper introduces novel air actuated spherical robot called "RollRoller". The RollRoller robot consists of two essential parts: tubes covered with a shell as a frame and mechanical controlling parts to correspond movements. The RollRoller is proposed to be high potential alternative for exploration and rescue missions robots because robot utilizing its locomotion via all possible deriving methods (gravity, torque and angular momentum forces). In beginning , characteristic and role of each of component and features were explained. Next, to determine the uniqueness of this robot, the known and other extra possible motions are shown by proposing their own algorithmic movements. To illustrate main motion of this robot was inherent to mathematical models, the forward direction dynamical behavior on flat surface was derived. Additionally, Matlab Simulink was used to plot the results to validate the behavior for both fractional and non-fractional terrains. Lastly, after designing the model of robot in Solidworks Program, Adams/View visualization software ( the robot simulated form ) was utilized to proof the Matlab Simulink results and to show the more detailed and complete form of locomotion including the forward direction and circular locomotion in proposed robot. | "RollRoller" Novel Spherical Mobile Robot Basic Dynamical Analysis and
Motion Simulations | 8,841 |
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling parts to correspond movements. Our robot gets its motivation force by displacing the spherical movable mass known as core in curvy manners inside certain pipes. This simulation investigates by explaining the mechanical and structural features of the robot for creating hydraulic-base actuation via force and momentum analysis. Next, we categorize difficult and integrated 2D motions to omit unstable equilibrium points through derived nonlinear dynamics. We propose an algorithmic position control in forward direction that creates hybrid model as solution for motion planning problem in spherical robot. By deriving nonlinear dynamics of the spherical robot and implementing designed motion planning, we show how RollRoller can be efficient in high speed movements in comparison to the other pendulum-driven models. Then, we validate the results of this position control obtained by nonlinear dynamics via Adams/view simulation which uses the imported solid model of RollRoller. Lastly, We have a look to the circular maneuver of this robot by the same simulator. | Dynamical Behavior Investigation and Analysis of Novel Mechanism for
Simulated Spherical Robot named "RollRoller" | 8,842 |
Indoor localization for autonomous micro aerial vehicles (MAVs) requires specific localization techniques, since the Global Positioning System (GPS) is usually not available. We present an efficient onboard computer vision approach that estimates 2D positions of an MAV in real-time. This global localization system does not suffer from error accumulation over time and uses a $k$-Nearest Neighbors ($k$-NN) algorithm to predict positions based on textons---small characteristic image patches that capture the texture of an environment. A particle filter aggregates the estimates and resolves positional ambiguities. To predict the performance of the approach in a given setting, we developed an evaluation technique that compares environments and identifies critical areas within them. We conducted flight tests to demonstrate the applicability of our approach. The algorithm has a localization accuracy of approximately 0.6 m on a 5 m$\times$5 m area at a runtime of 32 ms on board of an MAV. Based on random sampling, its computational effort is scalable to different platforms, trading off speed and accuracy. | Efficient Global Indoor Localization for Micro Aerial Vehicles | 8,843 |
Despite the immense technology advancement in the surgeries the criteria of assessing the surgical skills still remains based on subjective standards. With the advent of robotic-assisted surgery, new opportunities for objective and autonomous skill assessment is introduced. Previous works in this area are mostly based on structured-based method such as Hidden Markov Model (HMM) which need enormous pre-processing. In this study, in contrast with them, we develop a new shaped-based framework for automatically skill assessment and personalized surgical training with minimum parameter tuning. Our work has addressed main aspects of skill evaluation; develop gesture recognition model directly on temporal kinematic signal of robotic-assisted surgery, and build automated personalized RMIS gesture training framework which . We showed that our method, with an average accuracy of 82% for suturing, 70% for needle passing and 85% for knot tying, performs better or equal than the state-of-the-art methods, while simultaneously needs minimum pre-processing, parameter tuning and provides surgeons with online feedback for their performance during training. | Toward Personalized Training and Skill Assessment in Robotic Minimally
Invasive Surgery | 8,844 |
We present methods for offline generation of sparse roadmap spanners that result in graphs 79% smaller than existing approaches while returning solutions of equivalent path quality. Our method uses a hybrid approach to sampling that combines traditional graph discretization with random sampling. We present techniques that optimize the graph for the L1-norm metric function commonly used in joint-based robotic planning, purposefully choosing a $t$-stretch factor based on the geometry of the space, and removing redundant edges that do not contribute to the graph quality. A high-quality pre-processed sparse roadmap is then available for re-use across many different planning scenarios using standard repair and re-plan methods. Pre-computing the roadmap offline results in more deterministic solutions, reduces the memory requirements by affording complex rejection criteria, and increases the speed of planning in high-dimensional spaces allowing more complex problems to be solved such as multi-modal task planning. Our method is validated through simulated benchmarks against the SPARS2 algorithm. The source code is freely available online as an open source extension to OMPL. | Sparser Sparse Roadmaps | 8,845 |
This paper presents a new condition, the fully physical consistency for a set of inertial parameters to determine if they can be generated by a physical rigid body. The proposed condition ensure both the positive definiteness and the triangular inequality of 3D inertia matrices as opposed to existing techniques in which the triangular inequality constraint is ignored. This paper presents also a new parametrization that naturally ensures that the inertial parameters are fully physical consistency. The proposed parametrization is exploited to reformulate the inertial identification problem as a manifold optimization problem, that ensures that the identified parameters can always be generated by a physical body. The proposed optimization problem has been validated with a set of experiments on the iCub humanoid robot. | Identification of Fully Physical Consistent Inertial Parameters using
Optimization on Manifolds | 8,846 |
We consider the problem of computing shortest paths in a dense motion-planning roadmap $\mathcal{G}$. We assume that~$n$, the number of vertices of $\mathcal{G}$, is very large. Thus, using any path-planning algorithm that directly searches $\mathcal{G}$, running in $O(V\textrm{log}V + E) \approx O(n^2)$ time, becomes unacceptably expensive. We are therefore interested in anytime search to obtain successively shorter feasible paths and converge to the shortest path in $\mathcal{G}$. Our key insight is to provide existing path-planning algorithms with a sequence of increasingly dense subgraphs of $\mathcal{G}$. We study the space of all ($r$-disk) subgraphs of $\mathcal{G}$. We then formulate and present two densification strategies for traversing this space which exhibit complementary properties with respect to problem difficulty. This inspires a third, hybrid strategy which has favourable properties regardless of problem difficulty. This general approach is then demonstrated and analyzed using the specific case where a low-dispersion deterministic sequence is used to generate the samples used for $\mathcal{G}$. Finally we empirically evaluate the performance of our strategies for random scenarios in $\mathbb{R}^{2}$ and $\mathbb{R}^{4}$ and on manipulation planning problems for a 7 DOF robot arm, and validate our analysis. | Densification Strategies for Anytime Motion Planning over Large Dense
Roadmaps | 8,847 |
On the lines of the huge and varied efforts in the field of automation with respect to technology development and innovation of vehicles to make them run autonomously, this paper presents an innovation to a bicycle. A normal daily use bicycle was modified at low cost such that it runs autonomously, while maintaining its original form i.e. the manual drive. Hence, a bicycle which could be normally driven by any human and with a press of switch could run autonomously according to the needs of the user has been developed. | Low Cost Autonomous Navigation and Control of a Mechanically Balanced
Bicycle with Dual Locomotion Mode | 8,848 |
We integrate learning and motion planning for soccer playing differential drive robots using Bayesian optimisation. Trajectories generated using end-slope cubic Bezier splines are first optimised globally through Bayesian optimisation for a set of candidate points with obstacles. The optimised trajectories along with robot and obstacle positions and velocities are stored in a database. The closest planning situation is identified from the database using k-Nearest Neighbour approach. It is further optimised online through reuse of prior information from previously optimised trajectory. Our approach reduces computation time of trajectory optimisation considerably. Velocity profiling generates velocities consistent with robot kinodynamoic constraints, and avoids collision and slipping. Extensive testing is done on developed simulator, as well as on physical differential drive robots. Our method shows marked improvements in mitigating tracking error, and reducing traversal and computational time over competing techniques under the constraints of performing tasks in real time. | Bayesian Optimisation with Prior Reuse for Motion Planning in Robot
Soccer | 8,849 |
Personal indoor localization is usually accomplished by fusing information from various sensors. A common choice is to use the WiFi adapter that provides information about Access Points that can be found in the vicinity. Unfortunately, state-of-the-art approaches to WiFi-based localization often employ very dense maps of the WiFi signal distribution, and require a time-consuming process of parameter selection. On the other hand, camera images are commonly used for visual place recognition, detecting whenever the user observes a scene similar to the one already recorded in a database. Visual place recognition algorithms can work with sparse databases of recorded scenes and are in general simple to parametrize. Therefore, we propose a WiFi-based global localization method employing the structure of the well-known FAB-MAP visual place recognition algorithm. Similarly to FAB-MAP our method uses Chow-Liu trees to estimate a joint probability distribution of re-observation of a place given a set of features extracted at places visited so far. However, we are the first who apply this idea to recorded WiFi scans instead of visual words. The new method is evaluated on the UJIIndoorLoc dataset used in the EvAAL competition, allowing fair comparison with other solutions. | Adopting the FAB-MAP algorithm for indoor localization with WiFi
fingerprints | 8,850 |
We study the problem of devising a closed-loop strategy to control the position of a robot that is tracking a possibly moving target. The robot is capable of obtaining noisy measurements of the target's position. The key idea in active target tracking is to choose control laws that drive the robot to measurement locations that will reduce the uncertainty in the target's position. The challenge is that measurement uncertainty often is a function of the (unknown) relative positions of the target and the robot. Consequently, a closed-loop control policy is desired which can map the current estimate of the target's position to an optimal control law for the robot. Our main contribution is to devise a closed-loop control policy for target tracking that plans for a sequence of control actions, instead of acting greedily. We consider scenarios where the noise in measurement is a function of the state of the target. We seek to minimize the maximum uncertainty (trace of the posterior covariance matrix) over all possible measurements. We exploit the structural properties of a Kalman Filter to build a policy tree that is orders of magnitude smaller than naive enumeration while still preserving optimality guarantees. We show how to obtain even more computational savings by relaxing the optimality guarantees. The resulting algorithms are evaluated through simulations. | Non-Myopic Target Tracking Strategies for State-Dependent Noise | 8,851 |
This paper addresses the problem of improving response times of robots implemented in the Robotic Operating System (ROS) using formal verification of computational-time feasibility. In order to verify the real time behaviour of a robot under uncertain signal processing times, methods of formal verification of timeliness properties are proposed for data flows in a ROS-based control system using Probabilistic Timed Programs (PTPs). To calculate the probability of success under certain time limits, and to demonstrate the strength of our approach, a case study is implemented for a robotic agent in terms of operational times verification using the PRISM model checker, which points to possible enhancements to the operation of the robotic agent. | Testing, Verification and Improvements of Timeliness in ROS processes | 8,852 |
In this paper, a novel method for vision-aided navigation based on trifocal tensor is presented. The main goal of the proposed method is to provide position estimation in GPS-denied environments for vehicles equipped with a standard inertial navigation systems(INS) and a single camera only. We treat the trifocal tensor as the measurement model, being only concerned about the vehicle state and do not estimate the the position of the tracked landmarks. The performance of the proposed method is demonstrated using simulation and experimental data. | Vision-aided Localization and Navigation Based on Trifocal Tensor | 8,853 |
Micro Aerial Vehicles (MAVs) that operate in unstructured, unexplored environments require fast and flexible local planning, which can replan when new parts of the map are explored. Trajectory optimization methods fulfill these needs, but require obstacle distance information, which can be given by Euclidean Signed Distance Fields (ESDFs). We propose a method to incrementally build ESDFs from Truncated Signed Distance Fields (TSDFs), a common implicit surface representation used in computer graphics and vision. TSDFs are fast to build and smooth out sensor noise over many observations, and are designed to produce surface meshes. Meshes allow human operators to get a better assessment of the robot's environment, and set high-level mission goals. We show that we can build TSDFs faster than Octomaps, and that it is more accurate to build ESDFs out of TSDFs than occupancy maps. Our complete system, called voxblox, will be available as open source and runs in real-time on a single CPU core. We validate our approach on-board an MAV, by using our system with a trajectory optimization local planner, entirely on-board and in real-time. | Voxblox: Incremental 3D Euclidean Signed Distance Fields for On-Board
MAV Planning | 8,854 |
We present the Model-Predictive Motion Planner (MPMP) of the Intelligent Autonomous Robotic Automobile (IARA). IARA is a fully autonomous car that uses a path planner to compute a path from its current position to the desired destination. Using this path, the current position, a goal in the path and a map, IARA's MPMP is able to compute smooth trajectories from its current position to the goal in less than 50 ms. MPMP computes the poses of these trajectories so that they follow the path closely and, at the same time, are at a safe distance of eventual obstacles. Our experiments have shown that MPMP is able to compute trajectories that precisely follow a path produced by a Human driver (distance of 0.15 m in average) while smoothly driving IARA at speeds of up to 32.4 km/h (9 m/s). | A Model-Predictive Motion Planner for the IARA Autonomous Car | 8,855 |
This paper presents an algorithm to deploy a team of {\it free} guards equipped with omni-directional cameras for tracking a bounded speed intruder inside a simply-connected polygonal environment. The proposed algorithm partitions the environment into smaller polygons, and assigns a guard to each partition so that the intruder is visible to at least one guard at all times. Based on the concept of {\it dynamic zones} introduced in this paper, we propose event-triggered strategies for the guards to track the intruder. We show that the number of guards deployed by the algorithm for tracking is strictly less than $\lfloor {\frac{n}{3}} \rfloor$ which is sufficient and sometimes necessary for coverage. We derive an upper bound on the speed of the mobile guard required for successful tracking which depends on the intruder's speed, the road map of the mobile guards, and geometry of the environment. Finally, we extend the aforementioned analysis to orthogonal polygons, and show that the upper bound on the number of guards deployed for tracking is strictly less than $\lfloor {\frac{n}{4}} \rfloor$ which is sufficient and sometimes necessary for the coverage problem. | Partitioning Strategies and Task Allocation for Target-tracking with
Multiple Guards in Polygonal Environments | 8,856 |
Micro-robotics at low Reynolds number has been a growing area of research over the past decade. We propose and study a generalized 3-link robotic swimmer inspired by the planar Purcell's swimmer. By incorporating out-of-plane motion of the outer limbs, this mechanism generalizes the planar Purcell's swimmer, which has been widely studied in the literature. Such an evolution of the limbs' motion results in the swimmer's base link evolving in a 3-dimensional space. The swimmer's configuration space admits a trivial principal fiber bundle structure, which along with the slender body theory at the low Reynolds number regime, facilitates in obtaining a principal kinematic form of the equations. We derive a coordinate-free expression for the local form of the kinematic connection. A novel approach for local controllability analysis of this 3-dimensional swimmer in the low Reynolds number regime is presented by employing the controllability results of the planar Purcell's swimmer. This is followed by control synthesis using the motion primitives approach. We prove the existence of motion primitives based control sequence for maneuvering the swimmer's base link whose motion evolves on a Lie group. Using the principal fiber bundle structure, an algorithm for point to point reconfiguration of the swimmer is presented. A set of control sequences for translational and rotational maneuvers is then provided along with numerical simulations. | Locomotion of the generalized Purcell's swimmer : Modelling,
controllability and motion primitives | 8,857 |
E-mail is probably the most popular application on the Internet, with everyday business and personal communications dependent on it. Spam or unsolicited e-mail has been estimated to cost businesses significant amounts of money. However, our understanding of the network-level behavior of legitimate e-mail traffic and how it differs from spam traffic is limited. In this study, we have passively captured SMTP packets from a 10 Gbit/s Internet backbone link to construct a social network of e-mail users based on their exchanged e-mails. The focus of this paper is on the graph metrics indicating various structural properties of e-mail networks and how they evolve over time. This study also looks into the differences in the structural and temporal characteristics of spam and non-spam networks. Our analysis on the collected data allows us to show several differences between the behavior of spam and legitimate e-mail traffic, which can help us to understand the behavior of spammers and give us the knowledge to statistically model spam traffic on the network-level in order to complement current spam detection techniques. | Analyzing the Social Structure and Dynamics of E-mail and Spam in
Massive Backbone Internet Traffic | 8,858 |
The main aim of the research was to examine educational use of Facebook. The Computer Networks and Communication lesson was taken as the sample and the attitudes of the students included in the study group towards Facebook were measured in a semi-experimental setup. The students on Facebook platform were examined for about three months and they continued their education interactively in that virtual environment. After the-three-month-education period, observations for the students were reported and the attitudes of the students towards Facebook were measured by three different measurement tools. As a result, the attitudes of the students towards educational use of Facebook and their views were heterogeneous. When the average values of the group were examined, it was reported that the attitudes towards educational use of Facebook was above a moderate level. Therefore, it might be suggested that social networks in virtual environments provide continuity in life long learning. | An Applied Study on Educational Use of Facebook as a Web 2.0 Tool: The
Sample Lesson of Computer Networks and Communication | 8,859 |
This paper contains the details of a distributed trust-aware recommendation system. Trust-base recommenders have received a lot of attention recently. The main aim of trust-based recommendation is to deal the problems in traditional Collaborative Filtering recommenders. These problems include cold start users, vulnerability to attacks, etc.. Our proposed method is a distributed approach and can be easily deployed on social networks or real life networks such as sensor networks or peer to peer networks. | A Distributed Method for Trust-Aware Recommendation in Social Networks | 8,860 |
Thanks to numerical data gathered by Lyon's shared bicycling system V\'elo'v, we are able to analyze 11.6 millions bicycle trips, leading to the first robust characterization of urban bikers' behaviors. We show that bicycles outstrip cars in downtown Lyon, by combining high speed and short paths.These data also allows us to calculate V\'elo'v fluxes on all streets, pointing to interesting locations for bike paths. | Characterizing the speed and paths of shared bicycles in Lyon | 8,861 |
A prognostic watch of the electric power system (EPS)is framed up, which detects the threat to EPS for a day ahead according to the characteristic times for a day ahead and according to the droop for a day ahead. Therefore, a prognostic analysis of the EPS development for a day ahead is carried out. Also the power grid, the electricity marker state, the grid state and the level of threat for a power grid are found for a day ahead. The accuracy of the built up prognostic watch is evaluated. | Prognostic Watch of the Electric Power System | 8,862 |
Detecting and characterizing emerging topics of discussion and consumer trends through analysis of Internet data is of great interest to businesses. This paper considers the problem of monitoring the Web to spot emerging memes - distinctive phrases which act as "tracers" for topics - as a means of early detection of new topics and trends. We present a novel methodology for predicting which memes will propagate widely, appearing in hundreds or thousands of blog posts, and which will not, thereby enabling discovery of significant topics. We begin by identifying measurables which should be predictive of meme success. Interestingly, these metrics are not those traditionally used for such prediction but instead are subtle measures of meme dynamics. These metrics form the basis for learning a classifier which predicts, for a given meme, whether or not it will propagate widely. The utility of the prediction methodology is demonstrated through analysis of memes that emerged online during the second half of 2008. | Toward Emerging Topic Detection for Business Intelligence: Predictive
Analysis of `Meme' Dynamics | 8,863 |
We consider the problem of broadcasting a viral video (a large file) over an ad hoc wireless network (e.g., students in a campus). Many smartphones are GPS enabled, and equipped with peer-to-peer (ad hoc) transmission mode, allowing them to wirelessly exchange files over short distances rather than use the carrier's WAN. The demand for the file however is transmitted through the social network (e.g., a YouTube link posted on Facebook). To address this coupled-network problem (demand on the social network; bandwidth on the wireless network) where the two networks have different topologies, we propose a file dissemination algorithm. In our scheme, users query their social network to find geographically nearby friends that have the desired file, and utilize the underlying ad hoc network to route the data via multi-hop transmissions. We show that for many popular models for social networks, the file dissemination time scales sublinearly with n; the number of users, compared to the linear scaling required if each user who wants the file must download it from the carrier's WAN. | On Sharing Viral Video over an Ad Hoc Wireless Network | 8,864 |
Three essential criteria are important for activity planning, including: (1) finding a group of attendees familiar with the initiator, (2) ensuring each attendee in the group to have tight social relations with most of the members in the group, and (3) selecting an activity period available for all attendees. Therefore, this paper proposes Social-Temporal Group Query to find the activity time and attendees with the minimum total social distance to the initiator. Moreover, this query incorporates an acquaintance constraint to avoid finding a group with mutually unfamiliar attendees. Efficient processing of the social-temporal group query is very challenging. We show that the problem is NP-hard via a proof and formulate the problem with Integer Programming. We then propose two efficient algorithms, SGSelect and STGSelect, which include effective pruning techniques and employ the idea of pivot time slots to substantially reduce the running time, for finding the optimal solutions. Experimental results indicate that the proposed algorithms are much more efficient and scalable. In the comparison of solution quality, we show that STGSelect outperforms the algorithm that represents manual coordination by the initiator. | On Social-Temporal Group Query with Acquaintance Constraint | 8,865 |
In this paper, we consider a two-sided digital content market, and study which of the two business modes, i.e., Business-to-Customer (B2C) and Customer-to-Customer (C2C), should be selected and when it should be selected. The considered market is managed by an intermediary, through which content producers can sell their contents to consumers. The intermediary can select B2C or C2C as its business mode, while the content producers and consumers are rational agents that maximize their own utilities. The content producers are differentiated by their content qualities. First, given the intermediary's business mode, we show that there always exists a unique equilibrium at which neither the content producers nor the consumers change their decisions. Moreover, if there are a sufficiently large number of consumers, then the decision process based on the content producers' naive expectation can reach the unique equilibrium. Next, we show that in a market with only one intermediary, C2C should be selected if the intermediary aims at maximizing its profit. Then, by considering a particular scenario where the contents are not highly substitutable, we prove that when the intermediary chooses to maximize the social welfare, C2C should be selected if the content producers can receive sufficient compensation for content sales, and B2C should be selected otherwise. | Business Mode Selection in Digital Content Markets | 8,866 |
Groupon has become the latest Internet sensation, providing daily deals to customers in the form of discount offers for restaurants, ticketed events, appliances, services, and other items. We undertake a study of the economics of daily deals on the web, based on a dataset we compiled by monitoring Groupon over several weeks. We use our dataset to characterize Groupon deal purchases, and to glean insights about Groupon's operational strategy. Our focus is on purchase incentives. For the primary purchase incentive, price, our regression model indicates that demand for coupons is relatively inelastic, allowing room for price-based revenue optimization. More interestingly, mining our dataset, we find evidence that Groupon customers are sensitive to other, "soft", incentives, e.g., deal scheduling and duration, deal featuring, and limited inventory. Our analysis points to the importance of considering incentives other than price in optimizing deal sites and similar systems. | A Month in the Life of Groupon | 8,867 |
Performance bounds for opportunistic networks have been derived in a number of recent papers for several key quantities, such as the expected delivery time of a unicast message, or the flooding time (a measure of how fast information spreads). However, to the best of our knowledge, none of the existing results is derived under a mobility model which is able to reproduce the power law+exponential tail dichotomy of the pairwise node inter-contact time distribution which has been observed in traces of several real opportunistic networks. The contributions of this paper are two-fold: first, we present a simple pairwise contact model -- called the Home-MEG model -- for opportunistic networks based on the observation made in previous work that pairs of nodes in the network tend to meet in very few, selected locations (home locations); this contact model is shown to be able to faithfully reproduce the power law+exponential tail dichotomy of inter-contact time. Second, we use the Home-MEG model to analyze flooding time in opportunistic networks, presenting asymptotic bounds on flooding time that assume different initial conditions for the existence of opportunistic links. Finally, our bounds provide some analytical evidences that the speed of information spreading in opportunistic networks can be much faster than that predicted by simple geometric mobility models. | Flooding Time in Opportunistic Networks under Power Law and Exponential
Inter-Contact Times | 8,868 |
In network interdiction problems, evaders (e.g., hostile agents or data packets) may be moving through a network towards targets and we wish to choose locations for sensors in order to intercept the evaders before they reach their destinations. The evaders might follow deterministic routes or Markov chains, or they may be reactive}, i.e., able to change their routes in order to avoid sensors placed to detect them. The challenge in such problems is to choose sensor locations economically, balancing security gains with costs, including the inconvenience sensors inflict upon innocent travelers. We study the objectives of 1) maximizing the number of evaders captured when limited by a budget on sensing cost and 2) capturing all evaders as cheaply as possible. We give optimal sensor placement algorithms for several classes of special graphs and hardness and approximation results for general graphs, including for deterministic or Markov chain-based and reactive or oblivious evaders. In a similar-sounding but fundamentally different problem setting posed by Rubinstein and Glazer where both evaders and innocent travelers are reactive, we again give optimal algorithms for special cases and hardness and approximation results on general graphs. | Evader Interdiction and Collateral Damage | 8,869 |
The aim of this paper was to empirically investigate the behavior of fans, globally coupled to a common environmental source of information. The environmental stimuli were given in a form of referee's decisions list. The sample of fans had to respond on each stimulus by associating points signifying his/her own opinion, emotion and action that referee's decisions provoke. Data were fitted by the Brillouin function which was a solution of an adapted model of quantum statistical physics to social phenomena. Correlation and a principal component analysis were performed in order to detect any collective behavior of the social ensemble of fans. Results showed that fans behaved as a system subject to a phase transition where the neutral state in the opinion, emotional and action space has been destabilized and a new stable state of coherent attitudes was formed. The enhancement of fluctuations and the increase of social susceptibility (responsiveness) to referee's decisions were connected to the first few decisions. The subsequent reduction of values in these parameters signified the onset of coherent layering within the attitude space of the social ensemble of fans. In the space of opinions fan coherence was maximal as only one layer of coherence emerged. In the emotional and action spaces the number of coherent levels was 2 and 4 respectively. The principal component analysis revealed a strong collective behavior and a high degree of integration within and between the opinion, emotional and action spaces of the sample of fans. These results point to one possible way of how different proto-groups, violent and moderate, may be formed as a consequence of global coupling to a common source of information. | Onset of coherent attitude layers in a population of sports fans | 8,870 |
In this article, we examine the Location Management costs in mobile communication networks utilizing the timer-based method. From the study of the probabilities that a mobile terminal changes a number of Location Areas between two calls, we identify a threshold value of 0.7 for the Call-to-Mobility Ratio (CMR) below which the application of the timer-based method is most appropriate. We characterize the valley appearing in the evolution of the costs with the timeout period, showing that the time interval required to reach 90% of the stabilized costs grows with the mobility index, the paging cost per Location Area and the movement dimension, in opposition to the behavior presented by the time interval that achieves the minimum of the costs. The results obtained for CMRs below the suggested 0.7 threshold show that the valley appearing in the costs tends to disappear for CMRs within [0.001, 0.7] in onedimensional movements and within [0.2, 0.7] in two-dimensional ones, and when the normalized paging cost per Location Area is below 0.3. | Variability of location management costs with different mobilities and
timer periods to update locations | 8,871 |
Analysis how to use Internet influence to the process of political communication, marketing and the management of public relations, what kind of online communication methods are used by political parties, and to assess satisfaction, means of communication and the services they provide to their partys voters (people) and other interest groups and whether social networks can affect the political and economic changes in the state, and the political power of one party. | Internet and political communication - Macedonian case | 8,872 |
Analysis how to use Internet influence to the process of political communication, marketing and the management of public relations, what kind of online communication methods are used by political parties, and to assess satisfaction, means of communication and the services they provide to their partys voters (people) and other interest groups and whether social networks can affect the political and economic changes in the state, and the political power of one party. | Facebook and political communication -- Macedonian case | 8,873 |
Analysis how to use Internet influence to the process of political communication, marketing and the management of public relations, what kind of online communication methods are used by political parties, and to assess satisfaction, means of communication and the services they provide to their party's voters (people) and other interest groups and whether social networks can affect the political and economic changes in the state, and the political power of one party. | YouTube and political communication -- Macedonian case | 8,874 |
We are at the beginning of a shift in how content is created and exchanged over the web. While content was previously created primarily by a small set of entities, today, individual users -- empowered by devices like digital cameras and services like online social networks -- are creating content that represents a significant fraction of Internet traffic. As a result, content today is increasingly generated and exchanged at the edge of the network. Unfortunately, the existing techniques and infrastructure that are still used to serve this content, such as centralized content distribution networks, are ill-suited for these new patterns of content exchange. In this paper, we take a first step towards addressing this situation by introducing WebCloud, a content distribution system for online social networking sites that works by re- purposing web browsers to help serve content. In other words, when a user browses content, WebCloud tries to fetch it from one of that user's friend's browsers, instead of from the social networking site. The result is a more direct exchange of content ; essentially, WebCloud leverages the spatial and temporal locality of interest between social network users. Because WebCloud is built using techniques already present in many web browsers, it can be applied today to many social networking sites. We demonstrate the practicality of WebCloud with microbenchmarks, simulations, and a prototype deployment. | WebCloud: Recruiting web browsers for content distribution | 8,875 |
Large graphs are difficult to represent, visualize, and understand. In this paper, we introduce "gate graph" - a new approach to perform graph simplification. A gate graph provides a simplified topological view of the original graph. Specifically, we construct a gate graph from a large graph so that for any "non-local" vertex pair (distance higher than some threshold) in the original graph, their shortest-path distance can be recovered by consecutive "local" walks through the gate vertices in the gate graph. We perform a theoretical investigation on the gate-vertex set discovery problem. We characterize its computational complexity and reveal the upper bound of minimum gate-vertex set using VC-dimension theory. We propose an efficient mining algorithm to discover a gate-vertex set with guaranteed logarithmic bound. We further present a fast technique for pruning redundant edges in a gate graph. The detailed experimental results using both real and synthetic graphs demonstrate the effectiveness and efficiency of our approach. | Distance Preserving Graph Simplification | 8,876 |
The analysis of massive graphs is now becoming a very important part of science and industrial research. This has led to the construction of a large variety of graph models, each with their own advantages. The Stochastic Kronecker Graph (SKG) model has been chosen by the Graph500 steering committee to create supercomputer benchmarks for graph algorithms. The major reasons for this are its easy parallelization and ability to mirror real data. Although SKG is easy to implement, there is little understanding of the properties and behavior of this model. We show that the parallel variant of the edge-configuration model given by Chung and Lu (referred to as CL) is notably similar to the SKG model. The graph properties of an SKG are extremely close to those of a CL graph generated with the appropriate parameters. Indeed, the final probability matrix used by SKG is almost identical to that of a CL model. This implies that the graph distribution represented by SKG is almost the same as that given by a CL model. We also show that when it comes to fitting real data, CL performs as well as SKG based on empirical studies of graph properties. CL has the added benefit of a trivially simple fitting procedure and exactly matching the degree distribution. Our results suggest that users of the SKG model should consider the CL model because of its similar properties, simpler structure, and ability to fit a wider range of degree distributions. At the very least, CL is a good control model to compare against. | The Similarity between Stochastic Kronecker and Chung-Lu Graph Models | 8,877 |
The purpose of this paper is investigating behaviors of Ad Hoc protocols in Agent-based simulation environments. First we bring brief introduction about agents and Ad Hoc networks. We introduce some agent-based simulation tools like NS-2. Then we focus on two protocols, which are Ad Hoc On-demand Multipath Distance Vector (AODV) and Destination Sequenced Distance Vector (DSDV). At the end, we bring simulation results and discuss about their reasons. | Ad Hoc Protocols Via Multi Agent Based Tools | 8,878 |
We initiate a systematic study to help distinguish a special group of online users, called hidden paid posters, or termed "Internet water army" in China, from the legitimate ones. On the Internet, the paid posters represent a new type of online job opportunity. They get paid for posting comments and new threads or articles on different online communities and websites for some hidden purposes, e.g., to influence the opinion of other people towards certain social events or business markets. Though an interesting strategy in business marketing, paid posters may create a significant negative effect on the online communities, since the information from paid posters is usually not trustworthy. When two competitive companies hire paid posters to post fake news or negative comments about each other, normal online users may feel overwhelmed and find it difficult to put any trust in the information they acquire from the Internet. In this paper, we thoroughly investigate the behavioral pattern of online paid posters based on real-world trace data. We design and validate a new detection mechanism, using both non-semantic analysis and semantic analysis, to identify potential online paid posters. Our test results with real-world datasets show a very promising performance. | Battling the Internet Water Army: Detection of Hidden Paid Posters | 8,879 |
Mobile phones are quickly becoming the primary source for social, behavioral, and environmental sensing and data collection. Today's smartphones are equipped with increasingly more sensors and accessible data types that enable the collection of literally dozens of signals related to the phone, its user, and its environment. A great deal of research effort in academia and industry is put into mining this raw data for higher level sense-making, such as understanding user context, inferring social networks, learning individual features, predicting outcomes, and so on. In this work we investigate the properties of learning and inference of real world data collected via mobile phones over time. In particular, we look at the dynamic learning process over time, and how the ability to predict individual parameters and social links is incrementally enhanced with the accumulation of additional data. To do this, we use the Friends and Family dataset, which contains rich data signals gathered from the smartphones of 140 adult members of a young-family residential community for over a year, and is one of the most comprehensive mobile phone datasets gathered in academia to date. We develop several models that predict social and individual properties from sensed mobile phone data, including detection of life-partners, ethnicity, and whether a person is a student or not. Then, for this set of diverse learning tasks, we investigate how the prediction accuracy evolves over time, as new data is collected. Finally, based on gained insights, we propose a method for advance prediction of the maximal learning accuracy possible for the learning task at hand, based on an initial set of measurements. This has practical implications, like informing the design of mobile data collection campaigns, or evaluating analysis strategies. | Incremental Learning with Accuracy Prediction of Social and Individual
Properties from Mobile-Phone Data | 8,880 |
The creation of Virtual Breeding Environments (VBE) is a topic which has received too little attention: in most former works, the existence of the VBE is either assumed, or is considered as the result of the voluntary, participatory gathering of a set of candidate companies. In this paper, the creation of a VBE by a third authority is considered: chambers of commerce, as organizations whose goal is to promote and facilitate business interests and activity in the community, could be good candidates for exogenous VBE creators. During VBE planning, there is a need to specify social requirements for the VBE. In this paper, SNA metrics are proposed as a way for a VBE planner to express social requirements for a VBE to be created. Additionally, a set of social requirements for VO planners, VO brokers, and VBE members are proposed. | Social Requirements for Virtual Organization Breeding Environments | 8,881 |
The need for Emergency Management continually grows as the population and exposure to catastrophic failures increase. The ability to offer appropriate services at these emergency situations can be tackled through group communication mechanisms. The entities involved in the group communication include people, organizations, events, locations and essential services. Cloud computing is a "as a service" style of computing that enables on-demand network access to a shared pool of resources. So this work focuses on proposing a social cloud constituting group communication entities using an open source platform, Eucalyptus. The services are exposed as semantic web services, since the availability of machine-readable metadata (Ontology) will enable the access of these services more intelligently. The objective of this paper is to propose an Ontology-based Emergency Management System in a social cloud and demonstrate the same using emergency healthcare domain. | Ontology-Based Emergency Management System in a Social Cloud | 8,882 |
A transformation network describes how one set of resources can be transformed into another via technological processes. Transformation networks in economics are useful because they can highlight areas for future innovations, both in terms of new products, new production techniques, or better efficiency. They also make it easy to detect areas where an economy might be fragile. In this paper, we use computational simulations to investigate how the density of a transformation network affects the economic performance, as measured by the gross domestic product (GDP), of an artificial economy. Our results show that on average, the GDP of our economy increases as the density of the transformation network increases. We also find that while the average performance increases, the maximum possible performance decreases and the minimum possible performance increases. | Transformation Networks: How Innovation and the Availability of
Technology can Increase Economic Performance | 8,883 |
The increasing participation of people in online activities in recent years like content publishing, and having different kinds of relationships and interactions, along with the emergence of online social networks and people's extensive tendency toward them, have resulted in generation and availability of a huge amount of valuable information that has never been available before, and have introduced some new, attractive, varied, and useful research areas to researchers. In this paper we try to review some of the accomplished research on information of SNSs (Social Network Sites), and introduce some of the attractive applications that analyzing this information has. This will lead to the introduction of some new research areas to researchers. By reviewing the research in this area we will present a categorization of research topics about online social networks. This categorization includes seventeen research subtopics or subareas that will be introduced along with some of the accomplished research in these subareas. According to the consequences (slight, significant, and sometimes catastrophic) that revelation of personal and private information has, a research area that researchers have vastly investigated is privacy in online social networks. After an overview on different research subareas of SNSs, we will get more focused on the subarea of privacy protection in social networks, and introduce different aspects of it along with a categorization of these aspects. | Social Networks Research Aspects: A Vast and Fast Survey Focused on the
Issue of Privacy in Social Network Sites | 8,884 |
Daily deals sites such as Groupon offer deeply discounted goods and services to tens of millions of customers through geographically targeted daily e-mail marketing campaigns. In our prior work we observed that a negative side effect for merchants using Groupons is that, on average, their Yelp ratings decline significantly. However, this previous work was essentially observational, rather than explanatory. In this work, we rigorously consider and evaluate various hypotheses about underlying consumer and merchant behavior in order to understand this phenomenon, which we dub the Groupon effect. We use statistical analysis and mathematical modeling, leveraging a dataset we collected spanning tens of thousands of daily deals and over 7 million Yelp reviews. In particular, we investigate hypotheses such as whether Groupon subscribers are more critical than their peers, or whether some fraction of Groupon merchants provide significantly worse service to customers using Groupons. We suggest an additional novel hypothesis: reviews from Groupon subscribers are lower on average because such reviews correspond to real, unbiased customers, while the body of reviews on Yelp contain some fraction of reviews from biased or even potentially fake sources. Although we focus on a specific question, our work provides broad insights into both consumer and merchant behavior within the daily deals marketplace. | The Groupon Effect on Yelp Ratings: A Root Cause Analysis | 8,885 |
Maintaining high quality content is one of the foremost objectives of any web-based collaborative service that depends on a large number of users. In such systems, it is nearly impossible for automated scripts to judge semantics as it is to expect all editors to review the content. This catalyzes the need for trust-based mechanisms to ensure quality of an article immediately after an edit. In this paper, we build on previous work and develop a framework based on the `web of trust' concept to calculate satisfaction scores for all users without the need for perusing the article. We derive some bounds for systems based on our mechanism and show that the optimization problem of selecting the best users to review an article is NP-Hard. Extensive simulations validate our model and results, and show that trust-based mechanisms are essential to improve efficiency in any online collaborative editing platform. | Exploiting the `Web of Trust' to improve efficiency in collaborative
networks | 8,886 |
In this paper, we demonstrate the possibility of predicting people's hometowns by using their geotagged photos posted on Flickr website. We employ Kruskal's algorithm to cluster photos taken by a user and predict the user's hometown. Our results prove that using social profiles of photographers allows researchers to predict the locations of their taken photos with higher accuracies. This in return can improve the previous methods which were purely based on visual features of photos \cite{Hays:im2gps}. | They Know Where You Live! | 8,887 |
Like other social media websites, YouTube is not immune from the attention of spammers. In particular, evidence can be found of attempts to attract users to malicious third-party websites. As this type of spam is often associated with orchestrated campaigns, it has a discernible network signature, based on networks derived from comments posted by users to videos. In this paper, we examine examples of different YouTube spam campaigns of this nature, and use a feature selection process to identify network motifs that are characteristic of the corresponding campaign strategies. We demonstrate how these discriminating motifs can be used as part of a network motif profiling process that tracks the activity of spam user accounts over time, enabling the process to scale to larger networks. | Identifying Discriminating Network Motifs in YouTube Spam | 8,888 |
Yelp ratings are often viewed as a reputation metric for local businesses. In this paper we study how Yelp ratings evolve over time. Our main finding is that on average the first ratings that businesses receive overestimate their eventual reputation. In particular, the first review that a business receives in our dataset averages 4.1 stars, while the 20th review averages just 3.69 stars. This significant warm-start bias which may be attributed to the limited exposure of a business in its first steps may mask analysis performed on ratings and reputational ramifications. Therefore, we study techniques to identify and correct for this bias. Further, we perform a case study to explore the effect of a Groupon deal on the merchant's subsequent ratings and show both that previous research has overestimated Groupon's effect to merchants' reputation and that average ratings anticorrelate with the number of reviews received. Our analysis points to the importance of identifying and removing biases from Yelp reviews. | The warm-start bias of Yelp ratings | 8,889 |
As online communities become increasingly popular, researchers have tried to examine participating activities in online communities as well as how to sustain online communities. However, relatively few studies have tried to understand what kinds of participants constitute online communities. In this study, we try to contribute online community research by developing "common language" to classify different participants in online communities. Specifically, we argue that the previous way to classify participants is not sufficient and accurate, and we propose a continuum to classify participants based on participants' overall trend of posting activities. In order to further online community research, we also propose potential directions for future studies. | Classify Participants in Online Communities | 8,890 |
Social networks have ensured the expanding disproportion between the face of WWW stored traditionally in search engine repositories and the actual ever changing face of Web. Exponential growth of web users and the ease with which they can upload contents on web highlights the need of content controls on material published on the web. As definition of search is changing, socially-enhanced interactive search methodologies are the need of the hour. Ranking is pivotal for efficient web search as the search performance mainly depends upon the ranking results. In this paper new integrated ranking model based on fused rank of web object based on popularity factor earned over only valid interlinks from multiple social forums is proposed. This model identifies relationships between web objects in separate social networks based on the object inheritance graph. Experimental study indicates the effectiveness of proposed Fusion based ranking algorithm in terms of better search results. | An integrated ranking algorithm for efficient information computing in
social networks | 8,891 |
This volume holds the proceedings of the Collective Intelligence 2012 conference in Cambridge, Massachusetts. It contains the full papers, poster papers, and plenary abstracts. Collective intelligence has existed at least as long as humans have, because families, armies, countries, and companies have all - at least sometimes - acted collectively in ways that seem intelligent. But in the last decade or so a new kind of collective intelligence has emerged: groups of people and computers, connected by the Internet, collectively doing intelligent things. For example, Google technology harvests knowledge generated by millions of people creating and linking web pages and then uses this knowledge to answer queries in ways that often seem amazingly intelligent. Or in Wikipedia, thousands of people around the world have collectively created a very large and high quality intellectual product with almost no centralized control, and almost all as volunteers! These early examples of Internet-enabled collective intelligence are not the end of the story but just the beginning. And in order to understand the possibilities and constraints of these new kinds of intelligence, we need a new interdisciplinary field. | Collective Intelligence 2012: Proceedings | 8,892 |
Using 16,068 articles in Wikipedia's Medicine Wikiproject, we study the relationship between collaboration and quality. We assess whether certain collaborative patterns are associated with information quality in terms of self-evaluated quality and article viewership. We find that the number of contributors has a curvilinear relationship to information quality, more contributors improving quality but only up to a certain point. Other articles that its collaborators work on also influences the quality of an information artifact, creating an interdependent network of artifacts and contributors. Finally, we see evidence of a recursive relationship between information quality and contributor activity, but that this recursive relationship attenuates over time. | Collaborative Development in Wikipedia | 8,893 |
We propose a dynamic map of knowledge generated from Wikipedia pages and the Web URLs contained therein. GalaxySearch provides answers to the questions we don't know how to ask, by constructing a semantic network of the most relevant pages in Wikipedia related to a search term. This search graph is constructed based on the Wikipedia bidirectional link structure, the most recent edits on the pages, the importance of the page, and the article quality; search results are then ranked by the centrality of their network position. GalaxySearch provides the results in three related ways: (1) WikiSearch - identifying the most prominent Wikipedia pages and Weblinks for a chosen topic, (2) WikiMap - creating a visual temporal map of the changes in the semantic network generated by the search results over the lifetime of the returned Wikipedia articles, and (3) WikiPulse - finding the most recent and most relevant changes and updates about a topic. | Galaxysearch - Discovering the Knowledge of Many by Using Wikipedia as a
Meta-Searchindex | 8,894 |
This paper highlights the rationale for the development of BioViz, a tool to help visualize the existence of collective user interactions in online life science communities. The first community studied has approximately 22,750 unique users and the second has 35,000. Making sense of the number of interactions between actors in these networks in order to discern patterns of collective organization and intelligent behavior is challenging. One of the complications is that forums - our object of interest - can vary in their purpose and remit (e.g. the role of gender in the life sciences to forums of praxis such as one exploring the cell line culturing) and this shapes the structure of the forum organization itself. Our approach took a random sample of 53 forums which were manually analyzed by our research team and interactions between actors were recorded as arcs between nodes. The paper focuses on a discussion of the utility of our approach, but presents some brief results to highlight the forms of knowledge that can be gained in identifying collective group formations. Specifically, we found that by using a matrix-based visualization approach, we were able to see patterns of collective behavior which we believe is valuable both to the study of collective intelligence and the design of virtual organizations. | Visualizing Collective Discursive User Interactions in Online Life
Science Communities | 8,895 |
Persons who engage in non-suicidal self-injury (NSSI), often conceal their practices which limits the examination and understanding of those who engage in NSSI. The goal of this research is to utilize public online social networks (namely, in LiveJournal, a major blogging network) to observe the NSSI population's communication in a naturally occurring setting. Specifically, LiveJournal users can publicly declare their interests. We collected the self-declared interests of 22,000 users who are members of or participate in 43 NSSI-related communities. We extracted a bimodal socio-semantic network of users and interests based on their similarity. The semantic subnetwork of interests contains NSSI terms (such as "self-injury" and "razors"), references to music performers (such as "Nine Inch Nails"), and general daily life and creativity related terms (such as "poetry" and "boys"). Assuming users are genuine in their declarations, the words reveal distinct patterns of interest and may signal keys to NSSI. | Semantic Networks of Interests in Online NSSI Communities | 8,896 |
Folksonomy mining is grasping the interest of web 2.0 community since it represents the core data of social resource sharing systems. However, a scrutiny of the related works interested in mining folksonomies unveils that the time stamp dimension has not been considered. For example, the wealthy number of works dedicated to mining tri-concepts from folksonomies did not take into account time dimension. In this paper, we will consider a folksonomy commonly composed of triples <users, tags, resources> and we shall consider the time as a new dimension. We motivate our approach by highlighting the battery of potential applications. Then, we present the foundations for mining quadri-concepts, provide a formal definition of the problem and introduce a new efficient algorithm, called QUADRICONS for its solution to allow for mining folksonomies in time, i.e., d-folksonomies. We also introduce a new closure operator that splits the induced search space into equivalence classes whose smallest elements are the quadri-minimal generators. Carried out experiments on large-scale real-world datasets highlight good performances of our algorithm. | A scalable mining of frequent quadratic concepts in d-folksonomies | 8,897 |
Web applications are increasingly showing recommended users from social media along with some descriptions, an attempt to show relevancy - why they are being shown. For example, Twitter search for a topical keyword shows expert twitterers on the side for 'whom to follow'. Google+ and Facebook also recommend users to follow or add to friend circle. Popular Internet newspaper- The Huffington Post shows Twitter influencers/ experts on the side of an article for authoritative relevant tweets. The state of the art shows user profile bios as summary for Twitter experts, but it has issues with length constraint imposed by user interface (UI) design, missing bio and sometimes funny profile bio. Alternatively, applications can use human generated user summary, but it will not scale. Therefore, we study the problem of automatic generation of informative expertise summary or taglines for Twitter experts in space constraint imposed by UI design. We propose three methods for expertise summary generation- Occupation-Pattern based, Link-Triangulation based and User-Classification based, with use of knowledge-enhanced computing approaches. We also propose methods for final summary selection for users with multiple candidates of generated summaries. We evaluate the proposed approaches by user-study using a number of experiments. Our results show promising quality of 92.8% good summaries with majority agreement in the best case and 70% with majority agreement in the worst case. Our approaches also outperform the state of the art up to 88%. This study has implications in the area of expert profiling, user presentation and application design for engaging user experience. | User Taglines: Alternative Presentations of Expertise and Interest in
Social Media | 8,898 |
We present a general model for opinion dynamics in a social network together with several possibilities for object selections at times when the agents are communicating. We study the limiting behavior of such a dynamics and show that this dynamics almost surely converges. We consider some special implications of the convergence result for gossip and top-$k$ selective gossip models. In particular, we provide an answer to the open problem of the convergence property of the top-$k$ selective gossip model, and show that the convergence holds in a much more general setting. Moreover, we propose an extension of the gossip and top-$k$ selective gossip models and provide some results for their limiting behavior. | A General Framework for Distributed Vote Aggregation | 8,899 |
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